/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "i2c.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "usb_device.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "Servo.h"
#include "math.h"
#include "usbd_cdc_if.h"
#include "datastream.h"
#include "lsm6dsox.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
SERVO_IO_t s_io_table[12];

SERVO_Object_t servo_table[12];
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint32_t freq;
  float fval;
    uint8_t whoami[2];
  uint8_t whoami_id[2] = {0x8f,0x00};
  LSM6DSOX_Axes_t acc_axes;
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
  LSM6DSOX_IO_t iotx1;
  LSM6DSOX_Object_t lsm6dsox_obj;
  uint8_t index;
  int16_t add = 0;
  uint16_t cnt = 0;
  Float4Bytes_t temp2f;

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM3_Init();
  MX_TIM8_Init();
  MX_USART1_UART_Init();
  MX_USART2_UART_Init();
  MX_USB_DEVICE_Init();
  MX_ADC1_Init();
  MX_I2C2_Init();
  MX_SPI2_Init();
  MX_TIM4_Init();
  MX_UART4_Init();
  MX_UART5_Init();
  /* USER CODE BEGIN 2 */
  s_io_table[0].Init    = BSP_PWM_Start_1;
  s_io_table[1].Init    = BSP_PWM_Start_2;
  s_io_table[2].Init    = BSP_PWM_Start_3;
  s_io_table[3].Init    = BSP_PWM_Start_4;
  s_io_table[4].Init    = BSP_PWM_Start_5;
  s_io_table[5].Init    = BSP_PWM_Start_6;
  s_io_table[6].Init    = BSP_PWM_Start_7;
  s_io_table[7].Init    = BSP_PWM_Start_8;
  s_io_table[8].Init    = BSP_PWM_Start_9;
  s_io_table[9].Init    = BSP_PWM_Start_10;
  s_io_table[10].Init    = BSP_PWM_Start_11;
  s_io_table[11].Init    = BSP_PWM_Start_12;
 
  s_io_table[0].WritePulseWidth = BSP_PWM_WritePulseWidth1;
  s_io_table[1].WritePulseWidth = BSP_PWM_WritePulseWidth2;
  s_io_table[2].WritePulseWidth = BSP_PWM_WritePulseWidth3;
  s_io_table[3].WritePulseWidth = BSP_PWM_WritePulseWidth4;
  s_io_table[4].WritePulseWidth = BSP_PWM_WritePulseWidth5;
  s_io_table[5].WritePulseWidth = BSP_PWM_WritePulseWidth6;
  s_io_table[6].WritePulseWidth = BSP_PWM_WritePulseWidth7;
  s_io_table[7].WritePulseWidth = BSP_PWM_WritePulseWidth8;
  s_io_table[8].WritePulseWidth = BSP_PWM_WritePulseWidth9;
  s_io_table[9].WritePulseWidth = BSP_PWM_WritePulseWidth10;
  s_io_table[10].WritePulseWidth = BSP_PWM_WritePulseWidth11;
  s_io_table[11].WritePulseWidth = BSP_PWM_WritePulseWidth12;

  for(index = 0; index < 12; index++)
  {
    SERVO_AttachIO(&servo_table[index], &s_io_table[index]);
    SERVO_Init(&servo_table[index], 90U, 0U, 180U);
  }

  iotx1.Address = 0x00;
  iotx1.BusType = LSM6DSOX_SPI_4WIRES_BUS;
  iotx1.Init = MX_SPI2_Init;
  iotx1.DeInit = MX_SPI2_Init;
  iotx1.WriteReg = BSP_SPI_WriteReg;
  iotx1.ReadReg = BSP_SPI_ReadReg;

  LSM6DSOX_RegisterBusIO(&lsm6dsox_obj, &iotx1);
  LSM6DSOX_Init(&lsm6dsox_obj);
  LSM6DSOX_ACC_Enable(&lsm6dsox_obj);
	HAL_Delay(100);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    // servo 12ch test
		// for(add = -90; add <= 90;add ++)
		// {
		// 	HAL_Delay(100);
    //   for(index = 0; index < 12; index++)
    //   {
    //     SERVO_ChangeAngle(&servo_table[index], add);
    //   }
		// }


    // HAL_Delay(1000);
    // servo2.IO.WritePulseWidth(500);
    // HAL_Delay(1000);
    // servo1.IO.WritePulseWidth(500);
    // HAL_Delay(1000);
    // servo2.IO.WritePulseWidth(500);

    if(usbVirtualReceiveFlag == 1U)
    {
      usbVirtualReceiveFlag = 0U; 
      fval = Bytes_to_Float(&temp2f, usbVirtualReceiveBuf+1);
      SERVO_WriteAngle(&servo_table[usbVirtualReceiveBuf[0]-1],(uint8_t)fval);
    }
    // HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, GPIO_PIN_RESET);
    // //HAL_SPI_TransmitReceive(&hspi2,whoami_id,whoami,1,10);
    // HAL_SPI_Transmit(&hspi2,whoami_id,1,10);
    // HAL_SPI_Receive(&hspi2,whoami,1,10);
    // HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, GPIO_PIN_SET);
    LSM6DSOX_ACC_GetAxes(&lsm6dsox_obj,&acc_axes);
    HAL_Delay(100);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
